Use the telemetry logger in the WalkingModule #97
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paolo-viceconte
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GiulioRomualdi,
S-Dafarra and
isorrentino
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isorrentino
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Jan 7, 2022
| @@ -6,7 +6,7 @@ unicycleGain 10.0 | |||
| referencePosition (0.1 0.0) | |||
| timeWeight 2.5 | |||
| positionWeight 1.0 | |||
| slowWhenTurningGain 5.0 | |||
| slowWhenTurningGain 2.5 | |||
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This parameter should be increased again as the robot falls down when turning due to the high speed. We could try with 4 if we want to take a higher velocity with respect to the previous value. But the new value should be tested before merging the PR.
cc @S-Dafarra
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We won't be able to test the new gain for a while. Should we revert to 5.0 and merge the PR, leaving for later the tuning of this gain?
|
Nice catches @isorrentino! |
Co-authored-by: Giulio Romualdi <[email protected]>
Co-authored-by: Giulio Romualdi <[email protected]>
GiulioRomualdi
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This was referenced Feb 3, 2022
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This was referenced Sep 22, 2022
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